• ETRI Journal
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• 제45권5호
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• pp.746-757
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• 2023

This study presents a novel safe landing algorithm for urban drone deliveries. The rapid advancement of drone technology has given rise to various delivery services for everyday necessities and emergency relief efforts. However, the reliability of drone delivery technology is still insufficient for application in urban environments. The proposed approach uses the "landing angle control" method to allow the drone to land vertically and a rapidly exploring random tree-based collision avoidance algorithm to generate safe and efficient vertical landing paths for drones while avoiding common urban obstacles like trees, street lights, utility poles, and wires; these methods allow for precise and reliable urban drone delivery. We verified the approach within a Gazebo simulation operated through ROS using a six-degree-of-freedom drone model and sensors with similar specifications to actual models. The performance of the algorithms was tested in various scenarios by comparing it with that of stateof-the-art 3D path planning algorithms.

• Smart Structures and Systems
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• 제18권6호
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• pp.1169-1188
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• 2016

Real-time substructuring techniques are currently an advanced experimental method for testing large size specimens in the laboratory. In dynamic substructuring, the whole tested system is split into two linked parts, the part of particular interest or nonlinearity, which is tested physically, and the remanding part which is tested numerically. To achieve near-perfect synchronization of the interface response between the physical specimen and the numerical model, a good controller is needed to compensate for transfer system dynamics, nonlinearities, uncertainties and time-varying parameters within the physical substructures. This paper presents the substructuring approach and control performance of the linear and the adaptive controllers for testing the dynamic characteristics of soil-structure-interaction system (SSI). This is difficult to emulate as an entire system in the laboratory because of the size and power supply limitations of the experimental facilities. A modified linear substructuring controller (MLSC) is proposed to replace the linear substructuring controller (LSC).The MLSC doesn't require the accurate mathematical model of the physical structure that is required by the LSC. The effects of parameter identification errors of physical structure and the shaking table on the control performance of the MLSC are analysed. An adaptive controller was designed to compensate for the errors from the simplification of the physical model in the MLSC, and from parameter identification errors. Comparative simulation and experimental tests were then performed to evaluate the performance of the MLSC and the adaptive controller.

• 한국안전학회지
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• 제37권1호
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• pp.78-87
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• 2022

In the risk assessment of urban railway systems, a hazard log is created by identifying hazards from accident and failure data. Then, based on a risk matrix, evaluators analyze the frequency and severity of the occurrence of the hazards, conduct the risk assessment, and then establish safety measures for the risk factors prior to risk control. However, because subjective judgments based on the evaluators' experiences affect the risk assessment results, a more objective and automated risk assessment system must be established. In this study, we propose a risk assessment model in which an adaptive neuro-fuzzy inference system (ANFIS), which is combined in artificial neural networks (ANN) and fuzzy inference system (FIS), is applied to the risk assessment of urban railway systems. The newly proposed model is more objective and automated, alleviating the limitations of risk assessments that use a risk matrix. In addition, the reliability of the model was verified by comparing the risk assessment results and risk control priorities between the newly proposed ANFIS-based risk assessment model and the risk assessment using a risk matrix. Results of the comparison indicate that a high level of accuracy was demonstrated in the risk assessment results of the proposed model, and uncertainty and subjectivity were mitigated in the risk control priority.

• 지역연구
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• 제12권2호
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• pp.69-78
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• 1996

This paper intends to raise some of urban policy issues of managing and planning Seoul for the twenty first century. As one of the world's most dynamic megacities, Seoul is faced with at least two trends: one is globalization of the economy, and the other is humanization of urban development in relation to people's quality of life. Given this context, there are emerging issues in a time of transition as the following; pedestrianization, decline of city master plan, micro land use control, citizen involvement, metro-wide management, infrastructure provisions and maintenance, sustainable development, urban information sustaniable development, urban information system, and public-private partnership.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2004년도 춘계학술대회 논문집
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• pp.897-902
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• 2004

The hydraulic brake system is recently apply to the AGT system such merit as installation is convenient and brake force is stronger than pneumatic brake system. The hydraulic brake system consist of brake operating unit, electronic control unit, air compressor and pneumatic/hydraulic tranducer. The components of it are controlled and designed to perform the function of brake system. Therefore, This paper design and the hydraulic brake system and propose the derection of development for Urban Transit System.

• 제어로봇시스템학회논문지
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• 제21권4호
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• pp.367-371
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• 2015

In this paper, a novel localization method for a monocular camera is proposed by using a feature-based probabilistic map. The localization of a camera is generally estimated from 3D-to-2D correspondences between a 3D map and an image plane through the PnP algorithm. In the computer vision communities, an accurate 3D map is generated by optimization using a large number of image dataset for camera pose estimation. In robotics communities, a camera pose is estimated by probabilistic approaches with lack of feature. Thus, it needs an extra system because the camera system cannot estimate a full state of the robot pose. Therefore, we propose an accurate localization method for a monocular camera using a probabilistic approach in the case of an insufficient image dataset without any extra system. In our system, features from a probabilistic map are projected into an image plane using linear approximation. By minimizing Mahalanobis distance between the projected features from the probabilistic map and extracted features from a query image, the accurate pose of the monocular camera is estimated from an initial pose obtained by the PnP algorithm. The proposed algorithm is demonstrated through simulations in a 3D space.

• 한국멀티미디어학회논문지
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• 제24권12호
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• pp.1653-1662
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• 2021

In this paper, we propose a small waste appliance collection system that can be used for efficient waste appliance collection, and implement an unmanned automatic small waste appliance collector system. First, we collected cases related to the collection of waste home appliances, compared and analyzed methods, and arranged the characteristics. We analyzed at the requirements for the collection and management system of waste appliances by dividing it into the aspect of the discharger and the recycling business company. The collection system consists of a client-server structure, which is a collector system and a collection management server. The unmanned automatic collector system is divided into a control unit and a machine/mechanical unit. We identified the functions that the collector system must perform and the hardware required to perform these functions. Based on this, the collector system was implemented as an embedded system. The hardware and software used in the implementation are described and the implementation results are described. The collection system developed in this paper will contribute to the development of urban mining industry by enabling the efficient collection of waste appliances.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2006년도 추계학술대회 논문집
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• pp.1495-1500
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• 2006

A signal system is critical point of transport capacity and train operation in urban rail transit. Today the moving block system by radio is taking place of the fixed block system by track circuit for efficiency and short headway in underground railway and right rail transit. In this study, assuming specification of a train, track and control system, the minimum headway on the moving block system and the fixed block system is researched for the maximum transport capacity.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1754-1756
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• 2003

This paper describes the pantograph design result for tilting train at conventional railway. EMU(Electrical Multiple Unit) Tilting Train is important tilting pantograph. Tilting train pantograh should be operated to commercial service speed 180Km/h of 200Km/h at KNR upgrade railroad. This paper is written about train pantograph control system

• 한국IT서비스학회지
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• 제19권3호
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• pp.151-163
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• 2020

This paper describes a study on the FRACAS(Failure Reporting Analysis and Corrective Action System)-based dependability control platform for domestic urban railway trains. There are more demands for the verification of the dependability of trains as it becomes a regulation for train manufacturers to verify the dependability recently. Train manufacturers as well as railway operators need a effective FRACAS solution to perform the verification of the dependability. Yet current FRACAS solutions have limitations to support the verification processes effectively. This paper addresses the issues of current FRACAS solutions and suggests a FRACAS framework designed for the domestic urban railway trains. Service failure scenarios are standardized using the proposed availability model to implement a more user-friendly and reliable platform. A new FRACAS-based platform for the dependability control (SCARF^®) has been developed to implement the suggested framework. The detail interfaces and functions of the platform are explained. The SCARF^® platform is expected to engage the increasing demands for the dependability control successfully enhancing the reliability, maintainability, availability and safety of domestic urban railway trains eventually.